Lichens from the Vadstena Monastery churchyard – the burial place of Eric Acharius

A list of 120 taxa observed at the Vadstena Monastery churchyard includes some rare species and a few lichenicolous fungi. Lecanora semipallida is reported from the province Östergötland [Ostrogothia] for the first time

Application of simultaneous localization and mapping for large-scale manipulators in unknown environments

In this paper, we study the application of simultaneous localization and mapping (SLAM) for estimating the tool center point (TCP) 6 degrees-of-freedom (DOF) pose of a large-scale hydraulic manipulator without a priori knowledge of the environment. We attach a stereo camera near the TCP of the manipulator and perform SLAM by utilizing the open source version of ORB-SLAM2. In offline experiments, the camera frame and the TCP frame are extrinsically calibrated using an iterative closest point search to match a point cloud of poses from the SLAM module with a point cloud of ground-truth TCP poses, which are obtained from joint encoder measurements along with a kinematic model of the manipulator. The estimated TCP trajectory provided by the SLAM is then compared to the ground-truth TCP trajectory. These preliminary experiments show that a pure visual SLAM algorithm can perform reasonably well in this application scenario. Limitations and future work are also discussed.acceptedVersionPeer reviewe

New or interesting lichens and lichenicolous fungi from the Vadstena area, Östergötland, Sweden

Results from the excursion of the 20th biennial symposium in Vadstena 11–15 August 2013 are presented. Eight localities in and around Vadstena were visited. Forty-three species are reported as new to the province Östergötland [Ostrogothia], three of which are new to the Nordic countries: Lecanora compallens, Polycoccum kerneri and Tremella caloplacae, five are new to Sweden: Cornutispora ciliata, Pyrenula chlorospila, Thelidium cf. rimulosum, Verrucaria ochrostoma and V. polystictoides, and the following are new to Östergötland: Bagliettoa baldensis, B. calciseda, Briancoppinsia cytospora, Calogaya arnoldii ssp. obliterata, Clypeococcum hypocenomycis, Cornutispora lichenicola, Endococcus exerrans, Fuscidea arboricola, Illosporium carneum, Lepraria elobata, L. jackii, L. vouauxii, Leptochidium albociliatum, Lichenoconium lecanorae, Lichenochora weillii, Marchandiobasidium aurantiacum, Micarea byssacea, Monodictys anaptychiae, M. epilepraria, Parmelia serrana, Phaeosporobolus alpinus, Placopyrenium canellum, Porpidia soredizodes, Pyrenidium actinellum, Rinodina turfacea, Stereocaulon rivulorum, Syzygospora physciacearum, Thelenella muscorum, Tremella phaeophysciae, T. ramalinae, Trichonectria rubefaciens, Verrucaria dolosa, V. inaspecta, V. infumata and V. memnonia